Robot Collision Control With Temperature-Adaptive Sensitivity
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Solution Overview
Problem
Existing robot control systems face challenges in accurately detecting collisions due to variations in friction coefficients caused by temperature changes, leading to increased possibilities of false collision detections.
Innovation Solution
A robot control device that adjusts collision detection sensitivity based on temperature measurements, using a threshold adjustment mechanism to prevent false detections by increasing the collision determination threshold when the robot is at low temperatures and using a friction model identification process to ensure accurate torque estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the collision detection sensitivity is increased to improve collision detection accuracy, then collision detection precision is improved, but the possibility of false detection increases when the robot is at low temperatures
Solution Approach 1:
The patent applies dynamics by making the collision detection threshold adaptive rather than fixed. The threshold dynamically adjusts based on the robot's operating temperature, which directly addresses the contradiction between detection sensitivity and false detection rate. When temperature decreases (increasing friction), the threshold increases to prevent false detections; when temperature increases (decreasing friction), the threshold decreases to maintain detection sensitivity.
Solution Approach 2:
The patent changes the detection parameter (threshold) based on temperature conditions. By monitoring temperature and adjusting the collision detection threshold accordingly, the system adapts to varying friction conditions. This parameter change strategy resolves the contradiction by allowing the system to maintain high detection accuracy while preventing false alarms under different thermal conditions.
2Device complexity
If a fixed threshold is used for collision detection, then the detection system is simple, but it cannot adapt to friction variations caused by temperature changes
Solution Approach 1:
The patent implements feedback by continuously monitoring the robot's operating temperature and using this information to adjust the collision detection threshold. The temperature sensor provides feedback about thermal conditions, and this feedback loop enables the system to adapt the threshold dynamically, achieving temperature adaptation while maintaining reasonable system complexity.
Solution Approach 2:
The system performs self-adjustment by automatically modifying its own detection parameters based on sensed environmental conditions. The collision detection threshold is self-adjusted according to temperature measurements, eliminating the need for manual calibration or complex external control systems, thus balancing simplicity with adaptability.
Data Source
AI summary
A robot control device according to the present invention is configured to: detect a collision of a robot with an object at a predetermined collision detection sensitivity; perform control of operating the robot, and stopping the robot when a detection part detects the collision; and decrease, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.